Multi-sensor probabilistic object detection and automated braking

ABSTRACT

A controller receives outputs from a plurality of sensors such as a camera, LIDAR sensor, RADAR sensor, and ultrasound sensor, which may be rearward facing. A probability is updated each time a feature in a sensor output indicates presence of an object. The probability may be updated as a function of a variance of the sensor providing the output and a distance to the feature. Where the variance of a sensor is directional, directional probabilities may be updated according to these variances and the distance to the feature. If the probability meets a threshold condition, actions may be taken such as a perceptible alert or automatic braking. The probability may be decayed in the absence of detection of objects. Increasing or decreasing trends in the probability may be amplified by further increasing or decreasing the probability.

CROSS REFERENCE TO RELATED PATENT APPLICATION

The present application is a continuation of U.S. patent applicationSer. No. 15/363,763, filed on Nov. 29, 2016, which is incorporated byreference in its entirety.

BACKGROUND Field of the Invention

This invention relates to performing obstacle detection, such as for usein autonomous vehicles.

Background of the Invention

Drivers of vehicles are expected to pay attention to their surroundingsat all times. But many times, especially during reversing, drivers canlose attention or miss objects in a scene simply due to the physics ofthe situation. This is further accentuated in situations where a dynamicobject (person, cyclist, car, etc.) comes into the path of a reversingvehicle. Many vehicles have passive systems including sensors such ascameras, ultrasonic sensors, RADAR, etc., for identifying the vehicle'ssurroundings but these passive systems rely on the driver to be aware atall times and fast enough to react to emergencies in time. Additionally,each sensor has its own limitations such as field of view, range, etc.

The systems and methods disclosed herein provide an improved approachfor obstacle detection using sensor data, particularly while reversing.

BRIEF DESCRIPTION OF THE DRAWINGS

In order that the advantages of the invention will be readilyunderstood, a more particular description of the invention brieflydescribed above will be rendered by reference to specific embodimentsillustrated in the appended drawings. Understanding that these drawingsdepict only typical embodiments of the invention and are not thereforeto be considered limiting of its scope, the invention will be describedand explained with additional specificity and detail through use of theaccompanying drawings, in which:

FIG. 1 is a schematic block diagram of a system for implementingembodiments of the invention;

FIG. 2 is a schematic block diagram of an example computing devicesuitable for implementing methods in accordance with embodiments of theinvention;

FIG. 3 is a schematic diagram illustrating a scenario including areversing vehicle incorporating sensors; and

FIG. 4 is a process flow diagram of a method for detecting objects whilereversing in accordance with an embodiment of the present invention.

DETAILED DESCRIPTION

Referring to FIG. 1, a system 100 may include a controller 102 housedwithin a vehicle. The vehicle may include any vehicle known in the art.The vehicle may have all of the structures and features of any vehicleknown in the art including, wheels, a drive train coupled to the wheels,an engine coupled to the drive train, a steering system, a brakingsystem, and other systems known in the art to be included in a vehicle.

As discussed in greater detail herein, the controller 102 may performcollision detection. The controller 102 may generate alerts in responseto detecting a potential collision and/or may perform autonomouscollision avoidance. The controller 102 may receive one or more imagestreams from one or more imaging devices 104. For example, one or morecameras may be mounted to the vehicle and output image streams receivedby the controller 102. The controller 102 may receive one or more datastreams from one or more sensors 106. For example, the controller 102may be coupled to one or more other sensors 106 that are mounted to thevehicle. The sensors may include RADAR (radio distancing and ranging)sensors, LIDAR (light distancing and ranging) sensors, SONAR (soundnavigation and ranging) sensors, ultrasonic sensors, and the like.

The imaging devices 104 and other sensors 106 detect the environment bya plurality of different modalities and provide many ways to detect thesame object. The systems and methods disclosed herein provide a way inwhich the outputs of the imaging devices 104 and other sensors 106 mayall be used to detect potential obstacles with greater certainty whilereducing false positives due to sensor noise.

The systems and methods disclosed herein are particularly useful foravoiding collisions while reversing. Accordingly, the fields of view ofat least some of the imaging devices 104 and sensors 106 may be rearwardfacing.

A reversing module 108 may include a detection module 110 a that isprogrammed to detect features in outputs of the imaging devices 104 andother sensors 106 that correspond to objects in a vehicle's path whilereversing. In particular, the detection module 110 a may detect objectswithin a zone of interest behind the vehicle as discussed below withrespect to FIG. 3.

The reversing module 108 may further include a distance module 110 bthat estimates a distance to features detected in the outputs of theimaging devices 104 and sensors 106. For example, for imaging devices,binocular vision may be used to provide three-dimensional data from twoimages. Distance estimates to objects in the three-dimensional data maythen be made based on the locations indicated by this data. Likewise,RADAR and ultrasound sensors 106 may provide information on the distanceand velocity of objects. LIDAR provides a three-dimensional point cloudfrom which the location of objects may be determined. For all sensoroutputs, the distances determined may be transformed to a commoncoordinate system in order to provide consistency. For example, somesystems may provide a “time to impact” estimate, which may betransformed into an approximate distance by the distance module 110 b.

The reversing module 108 may further include a probability module 110 c.Each time an object is sensed in the output of any of the imagingdevices 104 or sensors 106, the probability that an object is presentbehind a vehicle is updated. In some embodiments a probability may alsobe updated by the probability module 110 c such that each time theobject is sensed, the probability is increased. The probabilityindicates a likelihood that an object is in fact present in a zone ofinterest behind the vehicle. The probability may be computed accordingto a Bayesian statistical model and updated with each sensing of theobject according to a Bayesian probability update technique. Theupdating of the probability may be performed according to the approachdescribed below with respect to FIG. 4. As described in greater detailbelow, the probability may be updated such that the smaller the distancefor a feature, the greater the increase in the probability will be.

The reversing module 108 may include a collision avoidance module 110 d.Upon detecting a probability of an object located in the zone ofinterest that meets a threshold condition, the collision avoidancemodule 110 d may take action to avoid impact with the object. This mayinclude automatically stopping the vehicle by applying the brake andremoving an accelerator input. This may be the case where the vehicle isnon-autonomous and the reversing module 108 is present as an aid to ahuman driver.

In embodiments where the vehicle is autonomous, the collision avoidancemodule 110 d may take other actions to avoid collision with an obstacledetected according to the modules 110 a-110 c. For example, thecollision avoidance module 110 d may control the trajectory of thevehicle by actuating one or more actuators 112 controlling the directionand speed of the vehicle. For example, the actuators 112 may include asteering actuator 114 a, an accelerator actuator 114 b, and a brakeactuator 114 c. The configuration of the actuators 114 a-114 c may beaccording to any implementation of such actuators known in the art ofautonomous vehicles.

FIG. 2 is a block diagram illustrating an example computing device 200.Computing device 200 may be used to perform various procedures, such asthose discussed herein. The controller 102 may have some or all of theattributes of the computing device 200.

Computing device 200 includes one or more processor(s) 202, one or morememory device(s) 204, one or more interface(s) 206, one or more massstorage device(s) 208, one or more Input/Output (I/O) device(s) 210, anda display device 230 all of which are coupled to a bus 212. Processor(s)202 include one or more processors or controllers that executeinstructions stored in memory device(s) 204 and/or mass storagedevice(s) 208. Processor(s) 202 may also include various types ofcomputer-readable media, such as cache memory.

Memory device(s) 204 include various computer-readable media, such asvolatile memory (e.g., random access memory (RAM) 214) and/ornonvolatile memory (e.g., read-only memory (ROM) 216). Memory device(s)204 may also include rewritable ROM, such as Flash memory.

Mass storage device(s) 208 include various computer readable media, suchas magnetic tapes, magnetic disks, optical disks, solid-state memory(e.g., Flash memory), and so forth. As shown in FIG. 2, a particularmass storage device is a hard disk drive 224. Various drives may also beincluded in mass storage device(s) 208 to enable reading from and/orwriting to the various computer readable media. Mass storage device(s)208 include removable media 226 and/or non-removable media.

I/O device(s) 210 include various devices that allow data and/or otherinformation to be input to or retrieved from computing device 200.Example I/O device(s) 210 include cursor control devices, keyboards,keypads, microphones, monitors or other display devices, speakers,network interface cards, modems, lenses, CCDs or other image capturedevices, and the like.

Display device 230 includes any type of device capable of displayinginformation to one or more users of computing device 200. Examples ofdisplay device 230 include a monitor, display terminal, video projectiondevice, and the like.

Interface(s) 206 include various interfaces that allow computing device200 to interact with other systems, devices, or computing environments.Example interface(s) 206 include any number of different networkinterfaces 220, such as interfaces to local area networks (LANs), widearea networks (WANs), wireless networks, and the Internet. Otherinterface(s) include user interface 218 and peripheral device interface222. The interface(s) 206 may also include one or more peripheralinterfaces such as interfaces for pointing devices (mice, track pad,etc.), keyboards, and the like.

Bus 212 allows processor(s) 202, memory device(s) 204, interface(s) 206,mass storage device(s) 208, I/O device(s) 210, and display device 230 tocommunicate with one another, as well as other devices or componentscoupled to bus 212. Bus 212 represents one or more of several types ofbus structures, such as a system bus, PCI bus, IEEE 1394 bus, USB bus,and so forth.

For purposes of illustration, programs and other executable programcomponents are shown herein as discrete blocks, although it isunderstood that such programs and components may reside at various timesin different storage components of computing device 200, and areexecuted by processor(s) 202. Alternatively, the systems and proceduresdescribed herein can be implemented in hardware, or a combination ofhardware, software, and/or firmware. For example, one or moreapplication specific integrated circuits (ASICs) can be programmed tocarry out one or more of the systems and procedures described herein.

Turning now to FIG. 3, a vehicle 300 housing the controller 102 may haverearward facing sensors 106 a, 106 b, such as a LIDAR, RADAR,ultrasonic, or other sensors. The vehicle 300 may further includerearward facing cameras 104 a, 104 b. The rearward facing cameras 104 a,104 b may implement binocular vision such that the three-dimensionallocation of objects may be determined from the outputs of the cameras104 a, 104 b. The outputs of the sensors 106 a, 106 b may also be in theform of three-dimensional data, such as in the form of a point cloudwherein each point indicating a location at which material was detected.Other sensors may detect objects in lateral or forward regions of thevehicle 300. Although the systems and methods disclosed herein areparticularly useful for improving safety while reversing, they may alsobe applied to forward movement with forward facing cameras and othersensors.

The methods disclosed herein are particularly concerned with a zone ofinterest 302 behind the vehicle 300. As is apparent, the zone ofinterest 302 extends longitudinally rearwardly of the vehicle 300 andmay also extend laterally on either side of the vehicle 300. The imagingdevices 104 a, 104 b and other sensors 106 a, 106 b have this zone ofinterest in their field of view. In some embodiments, the fields of viewof the imaging devices 104 a, 104 b and other sensors 106 a, 106 b mayextend further than this zone of interest 302. In such embodiments,features in sensor outputs indicating a location outside of the zone ofinterest 302 may be ignored or have a reduced impact on the probabilitythat an object is located in the zone of interest 302 as compared tofeatures located in the zone of interest 302.

Objects 304 a, 304 b located within the zone of interest 302 aredetected by the imaging devices 104 a, 104 b and other sensors 106 a,106 b and braking of the vehicle 300 may be invoked. The method by whichobjects 304 a, 304 b are detected is described below with respect toFIG. 4.

Referring to FIG. 4 the illustrated method 400 may be executed by thecontroller 102 in response to receiving outputs of the imaging devices104 a, 104 b and other sensors 106 a, 106 b. The method 400 is performedfor outputs from all of the imaging devices 104 a, 104 b and othersensors 106 a, 106 b such that any feature in the output of any sensormay contribute to an increase in the probability that an object ispresent within the zone of interest 302. In particular, a singleprobability metric may be updated based on detecting different objectsby different sensors.

The method 400 may include receiving 402 sensor data. The method 400 maybe executed with respect to each frame of sensor data received from theimaging devices 104 a, 104 b and the other sensors 106 a, 106 b(hereinafter “sensing devices 104 a, 104 b, 106 a, 106 b”).Alternatively, the method 400 may process frames of sensor data frommultiple sensing devices 104 a, 104 b, 106 a, 106 b simultaneously.

The method 400 may include evaluating 404 whether an object is detectedin the sensor output, which may be a pair of binocular images, a pointcloud, detected radar or ultrasound reflections, or any other sensoroutput. The manner in which objects are detected in these outputs mayinclude using any method known in the art for detecting objects usingbinocular vision, RADAR sensor, LIDAR sensor, ultrasonic sensor, orother type of sensor for detecting the environment of a vehicle.Detecting 404 an object may or may not be accurate, inasmuch as sensorsmay have false positives. Accordingly, detecting 404 an object mayinclude detecting a feature in the output of a sensing device 104 a, 104b, 106 a, 106 b that indicates a potential obstruction. Accordingly,references to detected objects herein below refer to processing ofobstruction-indicating features in sensor outputs.

If an object is detected 404, then the remaining elements of the method400 may be executed. This may include determining 406 a distance to thedetected object. This may include any method known in the art fordetecting the location of objects using binocular vision, RADAR sensor,LIDAR sensor, ultrasonic sensor, or other type of sensor for detectingthe environment of a vehicle. In some embodiments, detecting 404 anobject may inherently include determining its location such that step406 does not include a different step.

The sensing devices 104 a, 104 b, 106 a, 106 b may provide a location ofan object in different coordinate systems or different forms, such as inthe form of a time to impact. Accordingly, step 406 may includetranslating the locations into a common coordinate systems or a commondistance metric, e.g. a longitudinal distance behind the vehicle 300 ora lateral distance from a longitudinal center line of the vehicle 300.

Each of the sensing devices 104 a, 104 b, 106 a, 106 b may have avariance indicating an uncertainty in one or both of the distance to anobject determined from an output of the sensor and whether an object isin fact present when a feature in the sensor output indicates that anobject is present.

In some instances, this variance may be directional, i.e. a sensor maymore accurately sense a longitudinal location of an object than thelateral location of an object, or vice versa. Accordingly, a sensor mayhave a longitudinal variance and a lateral variance. If a sensor fromwhich the output of step 402 was received is found 408 to have adirectionally dependent variance, the method 400 may include updating410 directional probabilities.

Specifically, for each output found 404 to indicate presence of anobject, a probability may be updated such that the probability increaseseach time the sensing devices 104 a, 104 b, 106 a, 106 b senses anobject. In some embodiments, the probability is updated according to afunction that increases with both the number of times an outputindicates an object is present and a distance to a sensed objectindicated by that output. In some embodiments, the probability may beupdated according to a function of all of the following parameters: (a)the number of times sensor outputs indicate objects, (b) the distance tothe sensed objects, and (c) a variance of the sensor that indicates thepresence of the sensed objects. Specifically, the amount by which theprobability increases in response to detecting 404 an object will begreater with smaller distance to the object and with smaller variance inthe sensor that detected the object.

Where the probability is zero, i.e. no object has been previouslydetected, the probability may be calculated based on these parametersusing a Bayesian probability function. Where the probability isnon-zero, the probability may be updated in response to each detection404 of an object according to these parameters using a Bayesianprobability update technique.

In the case of directionally dependent variance, directionalprobabilities, e.g., a longitudinal probability and a lateralprobability, may be updated 410 or initially calculated, where thelongitudinal probability is calculated according to the distance andlongitudinal variance of the sensing device 104 a, 104 b, 106 a, 106 band the lateral probability is calculated according to the distance andlateral variance of the sensing device 104 a, 104 b, 106 a, 106 b.

Where a sensing device 104 a, 104 b, 106 a, 106 b from which the sensordata of step 402 was received does not have a directional dependency, asingle general probability may be updated 412 using the same parametersand in the same manner as for the directional probabilities.Alternatively, step 412 may include updating 412 the directionalprobabilities using the directionally-independent variance of thesensing device 104 a, 104 b, 106 a, 106 b to update both directionalprobabilities.

The method 400 may include evaluating 414 whether a probabilitythreshold has been met. This may include evaluating one or more of thegeneral probability or of the directional probabilities exceeds someconfidence threshold, e.g. at least 70%, 80%, 90%, or some other minimumpercentage of certainty.

If so, then actions may be taken 416 by the controller such asautomatically activating brakes, reducing or stopping acceleration,generating a perceptible alert to a driver, autonomously navigating thevehicle 300 around detected 404 objects, or any other action to preventor reduce harm caused by impact.

In practice, the method 400 will result in an increase in probabilityfor sensed objects that are far away from the vehicle. The probabilitywill increase rapidly as an object approaches both because (a) distanceis a factor in computing the probability and it is becoming smaller, (b)more sensors will detect the object, and (c) the object will have beendetected an ever increasing number of times as it moves closer to thevehicle and the probability increases each time an object is detected.The probability may be calculated in such a way that presence of theobject in the zone of interest 302 will have a sufficient large effecton the probability that the threshold of step 416 will be met.

In some embodiments, the probability (general and directional) may bedecayed 418 in the absence of detection 404 of an object in the outputof a sensor. For example, if no objects are detected in the outputs ofany sensors for one or more data frames, the probability may be decayed418, such as according to a decaying exponential function or accordingto a Bayesian probability update wherein the additional information isan absence of data confirming the probability indicated by thestatistical model. The amount of decay may increase with an amount oftime that passes between a data frame of any sensor that indicates anobject and a current time at which the method 400 is executed.

In many instances objects may be transitorily present in or near thezone of interest 302. Likewise, sensor noise may result in transientperception of objects in the output of a sensing device 104 a, 104 b.Accordingly, not all perceived objects would require that braking orother actions to be taken. Decaying 418 the probability may reduce theimpact of these transitory detections.

In some embodiments, the impact of transitory detections may be furtherreduced, and the impact of increasing probability may be amplified byamplifying 420 trends in the probability (general or directional). Forexample, if the probability is decaying over time, tuning parameters maybe specified and the probability may be caused to decay more accordingto a function of the rate of decay in the probability and the tuningparameters.

Likewise, amplifying 420 trends may include increasing the probabilityas a function of the tuning parameters and a rate of increase of theprobability over time, i.e. in response to detection 404 of objects fortwo or more iterations of the method 400. In this manner, the impact ofobjects that are non-transitory and are causing increase in theprobability (general or directional) will be increased, ensuring thatthe probability will quickly reach the threshold that will invokeaction, such as activating 416 the brakes.

In the above disclosure, reference has been made to the accompanyingdrawings, which form a part hereof, and in which is shown by way ofillustration specific implementations in which the disclosure may bepracticed. It is understood that other implementations may be utilizedand structural changes may be made without departing from the scope ofthe present disclosure. References in the specification to “oneembodiment,” “an embodiment,” “an example embodiment,” etc., indicatethat the embodiment described may include a particular feature,structure, or characteristic, but every embodiment may not necessarilyinclude the particular feature, structure, or characteristic. Moreover,such phrases are not necessarily referring to the same embodiment.Further, when a particular feature, structure, or characteristic isdescribed in connection with an embodiment, it is submitted that it iswithin the knowledge of one skilled in the art to affect such feature,structure, or characteristic in connection with other embodimentswhether or not explicitly described.

Implementations of the systems, devices, and methods disclosed hereinmay comprise or utilize a special purpose or general-purpose computerincluding computer hardware, such as, for example, one or moreprocessors and system memory, as discussed herein. Implementationswithin the scope of the present disclosure may also include physical andother computer-readable media for carrying or storingcomputer-executable instructions and/or data structures. Suchcomputer-readable media can be any available media that can be accessedby a general purpose or special purpose computer system.Computer-readable media that store computer-executable instructions arecomputer storage media (devices). Computer-readable media that carrycomputer-executable instructions are transmission media. Thus, by way ofexample, and not limitation, implementations of the disclosure cancomprise at least two distinctly different kinds of computer-readablemedia: computer storage media (devices) and transmission media.

Computer storage media (devices) includes RAM, ROM, EEPROM, CD-ROM,solid state drives (“SSDs”) (e.g., based on RAM), Flash memory,phase-change memory (“PCM”), other types of memory, other optical diskstorage, magnetic disk storage or other magnetic storage devices, or anyother medium which can be used to store desired program code means inthe form of computer-executable instructions or data structures andwhich can be accessed by a general purpose or special purpose computer.

An implementation of the devices, systems, and methods disclosed hereinmay communicate over a computer network. A “network” is defined as oneor more data links that enable the transport of electronic data betweencomputer systems and/or modules and/or other electronic devices. Wheninformation is transferred or provided over a network or anothercommunications connection (either hardwired, wireless, or a combinationof hardwired or wireless) to a computer, the computer properly views theconnection as a transmission medium. Transmissions media can include anetwork and/or data links, which can be used to carry desired programcode means in the form of computer-executable instructions or datastructures and which can be accessed by a general purpose or specialpurpose computer. Combinations of the above should also be includedwithin the scope of computer-readable media.

Computer-executable instructions comprise, for example, instructions anddata which, when executed at a processor, cause a general purposecomputer, special purpose computer, or special purpose processing deviceto perform a certain function or group of functions. The computerexecutable instructions may be, for example, binaries, intermediateformat instructions such as assembly language, or even source code.Although the subject matter has been described in language specific tostructural features and/or methodological acts, it is to be understoodthat the subject matter defined in the appended claims is notnecessarily limited to the described features or acts described above.Rather, the described features and acts are disclosed as example formsof implementing the claims.

Those skilled in the art will appreciate that the disclosure may bepracticed in network computing environments with many types of computersystem configurations, including, an in-dash vehicle computer, personalcomputers, desktop computers, laptop computers, message processors,hand-held devices, multi-processor systems, microprocessor-based orprogrammable consumer electronics, network PCs, minicomputers, mainframecomputers, mobile telephones, PDAs, tablets, pagers, routers, switches,various storage devices, and the like. The disclosure may also bepracticed in distributed system environments where local and remotecomputer systems, which are linked (either by hardwired data links,wireless data links, or by a combination of hardwired and wireless datalinks) through a network, both perform tasks. In a distributed systemenvironment, program modules may be located in both local and remotememory storage devices.

Further, where appropriate, functions described herein can be performedin one or more of: hardware, software, firmware, digital components, oranalog components. For example, one or more application specificintegrated circuits (ASICs) can be programmed to carry out one or moreof the systems and procedures described herein. Certain terms are usedthroughout the description and claims to refer to particular systemcomponents. As one skilled in the art will appreciate, components may bereferred to by different names. This document does not intend todistinguish between components that differ in name, but not function.

It should be noted that the sensor embodiments discussed above maycomprise computer hardware, software, firmware, or any combinationthereof to perform at least a portion of their functions. For example, asensor may include computer code configured to be executed in one ormore processors, and may include hardware logic/electrical circuitrycontrolled by the computer code. These example devices are providedherein purposes of illustration, and are not intended to be limiting.Embodiments of the present disclosure may be implemented in furthertypes of devices, as would be known to persons skilled in the relevantart(s).

At least some embodiments of the disclosure have been directed tocomputer program products comprising such logic (e.g., in the form ofsoftware) stored on any computer useable medium. Such software, whenexecuted in one or more data processing devices, causes a device tooperate as described herein.

While various embodiments of the present disclosure have been describedabove, it should be understood that they have been presented by way ofexample only, and not limitation. It will be apparent to persons skilledin the relevant art that various changes in form and detail can be madetherein without departing from the spirit and scope of the disclosure.Thus, the breadth and scope of the present disclosure should not belimited by any of the above-described exemplary embodiments, but shouldbe defined only in accordance with the following claims and theirequivalents. The foregoing description has been presented for thepurposes of illustration and description. It is not intended to beexhaustive or to limit the disclosure to the precise form disclosed.Many modifications and variations are possible in light of the aboveteaching. Further, it should be noted that any or all of theaforementioned alternate implementations may be used in any combinationdesired to form additional hybrid implementations of the disclosure.

The present invention may be embodied in other specific forms withoutdeparting from its spirit or essential characteristics. The describedembodiments are to be considered in all respects only as illustrative,and not restrictive. The scope of the invention is, therefore, indicatedby the appended claims, rather than by the foregoing description. Allchanges which come within the meaning and range of equivalency of theclaims are to be embraced within their scope.

The invention claimed is:
 1. A method comprising performing, by avehicle controller: performing a plurality of iterations by: receiving aplurality of sensor outputs each including an obstruction-indicatingfeature from a plurality of sensors having a plurality of differentsensing modalities; for a first iteration of the plurality ofiterations, calculating a probability according to each sensor output ofthe plurality of sensor outputs and an estimated distance to theobstruction-indicating feature in the each sensor output, theprobability indicating a probability of obstruction; for subsequentiterations of the plurality of iterations, updating the probabilityaccording to each sensor output of the plurality of sensor outputs andthe estimated distance to the obstruction-indicating feature in the eachsensor output, such that an amount by which the probability is increasedincreases with decrease in the estimated distance; and when theprobability is sufficiently high to perform collision avoidance,performing collision avoidance; wherein at least one sensor of theplurality of sensors has a first variance corresponding to a firstaccuracy of first location measurements along a first direction of aplurality of directions and a second variance corresponding to a secondaccuracy of measurements along a second direction of the plurality ofdirections, the first accuracy being different from the second accuracy;wherein updating the probability comprises updating a first directionalprobability for each sensor output of the at least one sensor accordingto both of the estimated distance and the first variance and updating asecond directional probability for each sensor output of the at leastone sensor according to both of the estimated distance and the secondvariance.
 2. The method of claim 1, wherein the plurality of sensorsinclude at least two of a two-dimensional camera image, a radiodistancing and ranging (RADAR) sensor, a light distancing and ranging(LIDAR) sensor, and an ultrasonic sensor.
 3. The method of claim 1,wherein updating the probability comprises performing a Bayesianprobability update.
 4. The method of claim 1, wherein the plurality ofsensors are rearward facing on a vehicle including the vehiclecontroller.
 5. The method of claim 1, further comprising: reducing theprobability in response to detecting a period of time in which noobstruction-indicating features are detected in outputs of the pluralityof sensors.
 6. The method of claim 5, further comprising: detecting adecreasing trend in the probability; and additionally reducing theprobability in response to the decreasing trend.
 7. The method of claim6, further comprising: detecting an increasing trend in the probability;and additionally increasing the probability in response to theincreasing trend.
 8. The method of claim 1, further comprising, inresponse to determining that the probability is sufficiently high toperform collision avoidance, actuating at least one of a steeringactuator, an accelerator actuator, and a brake actuator.
 9. A systemcomprising: a plurality of sensors having a plurality of sensingmodalities and having a zone of interest in fields of view thereof; avehicle controller operably coupled to the plurality of sensors, thevehicle controller programmed to— perform a plurality of iterations eachincluding: receiving a plurality of sensor outputs each including anobstruction-indicating feature indicating obstruction, the plurality ofsensors having a plurality of different sensing modalities; for a firstiteration of the plurality of iterations, calculating a probabilityaccording to each sensor output of the plurality of sensor outputs andan estimated distance to the obstruction-indicating feature in the eachsensor output, the probability indicating a probability of obstructionwithin the zone of interest; for iterations subsequent to the firstiteration, update the probability according to each sensor output of theplurality of sensor outputs and the estimated distance to theobstruction-indicating feature in the each sensor output; and if theprobability meets a threshold condition, perform collision avoidance byceasing movement into the zone of interest; wherein at least one sensorof the plurality of sensors has a first variance corresponding to afirst accuracy of first location measurements along a first direction ofa plurality of directions and a second variance corresponding to asecond accuracy of measurements along a second direction of theplurality of directions, the first accuracy being different from thesecond accuracy; wherein the vehicle controller programmed to update theprobability by updating a first directional probability for each sensoroutput of the at least one sensor according to both of the estimateddistance to the obstruction-indicating feature and the first varianceand updating a second directional probability for each sensor output ofthe at least one sensor according to both of the estimated distance tothe obstruction-indicating feature and the second variance.
 10. Thesystem of claim 9, wherein the plurality of sensors include at least twoof a two-dimensional camera image, a radio distancing and ranging(RADAR) sensor, a light distancing and ranging (LIDAR) sensor, and anultrasonic sensor.
 11. The system of claim 9, wherein each sensor of theplurality of the sensors has a variance associated therewith; whereinthe vehicle controller is further programmed to update the probabilityaccording to each sensor output of the plurality of sensor outputsaccording to both of the estimated distance and the variance of a sensorof the plurality of sensors that generated the each sensor output. 12.The system of claim 9, wherein the vehicle controller is furtherprogrammed to update the probability by performing a Bayesianprobability update.
 13. The system of claim 9, wherein the plurality ofsensors are rearward facing on a vehicle including the vehiclecontroller.
 14. The system of claim 9, further comprising: reducing theprobability in response to detecting a period of time in which noobstruction-indicating features are detected in outputs of the pluralityof sensors.
 15. The system of claim 14, wherein the vehicle controlleris further programmed to: if a decreasing trend in the probability isdetected, further reduce the probability in response to the decreasingtrend.
 16. The system of claim 15, wherein the vehicle controller isfurther programmed to: if an increasing trend in the probability isdetected, additionally increase the probability in response to theincreasing trend.
 17. The system of claim 9, further comprising at leastone of a steering actuator, an accelerator actuator, and a brakeactuator; wherein the vehicle controller is further programmed to, ifthe probability meets the threshold condition, activate at least one ofthe steering actuator, the accelerator actuator, and the brake actuator.